Fully automatic visual lift, loading and unloading robot, and automatic cargo loading and unloading method

Abstract

The present invention relates to a fully automatic visual lift, a loading and unloading robot, and an automatic cargo loading and unloading method, and belongs to the field of warehousing and logistics. The loading and unloading robot of the present invention is small in size and convenient for entering and exiting a carriage; it can grab cargo of larger size and heavier weight; the transparent tray mechanism (6) will not block the labels and barcodes on the cargo, and is convenient for cargo scanning, inspection, and disinfection stations to scan the cargo; the mechanism (5) rotating around the X axis and the mechanism (4) rotating around the Y axis can lift irregularly placed cargo in a cargo pile. The fully automatic visual lift (23) of the present invention can automatically match the floor height of a truck during the lifting process of the lift. The automatic cargo loading and unloading method of the present invention can automatically identify and grab cargo from the carriage of a medium or large truck by the loading and unloading robot, and take the cargo out of the carriage of a medium or large truck or place it in the carriage of a medium or large truck through the fully automatic visual lift, and distribute or recycle the cargo after scanning and disinfecting the cargo.

Description

Technical Field

[0001] The invention relates to a full-automatic visual lifter, a loading and unloading robot and a method for automatic loading and unloading of goods, and belongs to the field of warehousing and logistics. Background Art

[0002] Unmanned logistics delivery does not rely on drivers and couriers, which can not only avoid accidents caused by driver and courier fatigue, but also avoid the spread of bacteria and viruses caused by drivers and couriers. At present, medium and long-distance unmanned logistics use medium and large trucks, and short-distance unmanned logistics use unmanned delivery vehicles. It still relies on manpower to unload, sort and place goods from medium and large trucks on unmanned delivery vehicles, which has become a bottleneck for unmanned logistics delivery.

[0003] The application scenario of the present invention is that medium and large trucks transport goods to the gate of a park or residential area or a designated location, unload the goods through the automatic cargo loading and unloading device and load them onto an unmanned delivery vehicle, which then transports them to the downstairs of each building in the park. Unmanned delivery vehicles can also collect goods from each building in the park and transport them to the gate of a park or residential area or a designated location, and the automatic cargo loading and unloading device can load the goods onto medium and large trucks. The entire set of automatic cargo loading and unloading devices can be put into a medium-sized truck, and can be flexibly deployed at the gate of a park or residential area where materials are piled up according to current needs.

[0004] At present, loading and unloading robots are used to load and unload neatly stacked goods with consistent size and weight. In logistics, however, there are many types of goods in the carriage, and the size and weight of the goods vary greatly. In addition, the bumps caused by the vehicle driving cause the goods to be stacked irregularly. Therefore, the loading and unloading robots used in logistics need to identify the size, placement, and orientation of the messily stacked goods in the carriage, and load and unload the goods through loading and unloading mechanisms with more degrees of freedom and greater load capacity. In addition, the size of the loading and unloading robot must also be convenient for entering and exiting the carriage.

[0005] In addition, it is necessary to configure a method for automatically loading and unloading goods that can be used by a loading and unloading robot to automatically identify and grab goods from the compartments of medium and large trucks, and to take the goods out of the compartments of medium and large trucks or place them in the compartments of medium and large trucks through a fully automatic visual lift, and then distribute or recycle the goods after scanning and disinfecting the goods. Summary of the invention

[0006] The object of the present invention is to provide a fully automatic visual lift, a loading and unloading robot and a method for automatic loading and unloading of goods. The loading and unloading robot of the present invention is small in size and convenient for entering and exiting the carriage; it can grab goods of larger size and heavier weight; the transparent tray mechanism 6 will not block the labels and barcodes on the goods, which is convenient for scanning, inspecting and disinfecting the goods; the mechanism 5 rotating around the X-axis and the mechanism 4 rotating around the Y-axis can lift irregularly placed goods in the pile; the fully automatic visual lift 23 of the present invention can automatically match the floor height of the truck during the lifting process of the lift, can adapt to different trucks, cargo weights and cargo distributions, and has better adaptability; the method for automatic loading and unloading of goods of the present invention can automatically identify and grab goods from the carriage of medium and large trucks by the loading and unloading robot, and take the goods out of the carriage of medium and large trucks or place them in the carriage of medium and large trucks through the fully automatic visual lift, and distribute or recycle the goods after scanning and disinfecting them.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] A loading and unloading robot, wherein the loading and unloading robot 24 comprises an automatic walking chassis 1, a vertical ascending and descending mechanism 2, a horizontal left and right stretching and contracting mechanism 3, a mechanism rotating around the Y axis 4, a mechanism rotating around the X axis 5, a transparent pallet mechanism 6, a loading and unloading robot camera 7, a forklift rotator 8, a T-slot platform 9, a cylinder 10, a bearing 11, a pressure sensor 13, a mechanical arm 14 and a hydraulic cylinder 15; wherein the X axis points to the forward direction of the loading and unloading robot 24, the Y axis points to the left side of the loading and unloading robot 24, and the Z axis points to the top of the loading and unloading robot 24;

[0009] The vertical ascending and descending mechanism 2 is arranged on the automatic walking chassis 1, and the loading and unloading robot camera 7 is arranged on the top of the vertical ascending and descending mechanism 2;

[0010] The mechanism 5 rotating around the X-axis is composed of three parts: a horizontal left-right stretching and contracting mechanism 3, a mechanism rotating around the Y-axis 4, and a transparent tray mechanism 6; wherein the horizontal left-right stretching and contracting mechanism 3 is connected to the vertical ascending and descending mechanism 2 through a forklift rotator 8, and the two sides of the horizontal left-right stretching and contracting mechanism 3 are connected to the mechanism 4 rotating around the Y-axis, and the mechanism 4 rotating around the Y-axis is connected to the transparent tray mechanism 6;

[0011] The T-slot platform 9 is fixed to the rear end surface of the horizontal left-right extension and contraction mechanism 3; the T-slot platform 9 is vertical to the ground and extends along the Y-axis direction;

[0012] The stationary end of the hydraulic cylinder 15 is fixed to the T-slot platform 9, and the movable end of the hydraulic cylinder 15 is fixed to the ends of the mechanical arms 14 on both sides of the horizontal left and right extension mechanism 3. The T-slot steel 12 matches the T-slot platform 9 and slides in the T-slot platform 9; the T-slot steel 12 is extended and retracted along the direction of the T-slot platform 9 to adjust the horizontal left and right width;

[0013] The mechanism 4 rotating around the Y axis is provided with a cylinder 10 and a bearing 11; the tail of the cylinder 10 is embedded with a bearing, and the tail of the cylinder 10 is swung in cooperation with a pin; the push rod end of the cylinder 10 is connected to the transparent tray mechanism 6 by a connecting rod, and the push-pull action of the cylinder 10 drives the transparent tray mechanism 6 to rotate and swing around the bearing 11 as the center, so as to adjust the angle of the transparent tray mechanism 6 around the Y axis;

[0014] A pressure sensor 13 is provided on the transparent tray mechanism 6 . The pressure sensor 13 is embedded in the bearing tube 11 and is in the same direction as the bearing tube. The sensor probe of the pressure sensor 13 faces the transparent tray mechanism 6 .

[0015] Among them, limit bosses are provided at both ends of the T-slot platform 9, forming soft and hard dual limit with the limit sensor.

[0016] A fully automatic visual lift, wherein the fully automatic visual lift comprises a lift camera 16, a motor 17, a hydraulic rod 18, an upper connecting plate 19, a lower connecting plate 20, an upper plate 21 and a bottom plate 22;

[0017] The motor 17 is arranged on the bottom plate 22, and a hydraulic rod 18 is arranged between the bottom plate 22 and the bottom surface of the upper plate 21; the fixed end of the hydraulic rod 18 is arranged at the rear of the bottom plate 22, and the front end of the telescopic end of the hydraulic rod 18 is rotatably arranged at the bottom surface of the front part of the upper plate 21; the motor 17 drives the telescopic movement of the hydraulic rod 18 to adjust the tilt angle of the upper plate 21;

[0018] The upper top surface of the upper plate 21 is provided with an upper connecting plate 19 that can be automatically or manually folded to connect to the car body, and the lower top surface of the upper plate 21 is provided with a lower connecting plate 20 that can be automatically or manually folded to connect to the ground; a lift camera 16 facing forward is provided on the front bottom edge of the upper plate 21 whose tilt angle can be adjusted.

[0019] A method for automatic cargo loading and unloading using the fully automatic visual lift and a loading and unloading robot, wherein the method comprises the following steps:

[0020] The automatic cargo loading and unloading space includes:

[0021] Truck parking spaces: the one or more truck parking spaces are used to park medium and large trucks;

[0022] Fully automatic visual lift 23: One or more fully automatic visual lifts 23 are placed on the side and / or behind each truck parking space;

[0023] Unmanned delivery vehicle parking space: used to park one or more unmanned delivery vehicles. The number of unmanned delivery vehicles is determined by the number of goods to be delivered and the delivery speed.

[0024] Cargo scanning, inspection, and disinfection stations: used to scan barcodes of cargo unloaded from medium and large trucks to obtain destination information; check whether the packaging is damaged; and spray the cargo with chemicals for disinfection;

[0025] A passage for the loading and unloading robot 24 to move forward, retreat, turn, and load and unload goods;

[0026] Cargo return area: temporarily storing cargo that needs to be loaded back into medium and large trucks;

[0027] Cargo temporary storage area: used to temporarily store goods that are not put into the unmanned delivery vehicle because the unmanned delivery vehicle's cargo warehouse is full;

[0028] Manual pickup area: for goods that need to be picked up manually, such as oversized goods that cannot be placed in the warehouse of unmanned delivery vehicles or goods with severely damaged packaging;

[0029] S1. A medium or large truck drives into a truck parking space, aligns the truck longitudinally with the fully automatic visual lift at the rear of the truck, aligns the truck laterally with the fully automatic visual lift at the side of the truck, stops the truck, and opens the side and / or rear of the truck compartment;

[0030] S2, the fully automatic visual lift 23 gradually increases the inclination angle of the upper plate 21 until the edge of the compartment of the medium-to-large truck enters the field of view of the lift camera 16 installed on the fully automatic visual lift 23; the upper connecting plate 19 and the lower connecting plate 20 are lowered to form a continuous ramp from the ground to the compartment, and the loading and unloading robot 24 enters the compartment of the medium-to-large truck through the continuous ramp to pick up the goods;

[0031] S3. The unmanned delivery vehicle drives into the unmanned delivery vehicle parking space and the cargo hold is unlocked;

[0032] S4, the loading and unloading robot 24 enters the compartment of the medium-to-large truck through the fully automatic visual lift 23, turns on the loading and unloading robot camera 7, and identifies the size, position and angle of a piece of cargo in the compartment of the medium-to-large truck;

[0033] According to the size of the cargo, the telescopic length of the hydraulic cylinder 15 is controlled to adjust the horizontal left and right extension and contraction mechanism 3 so that the size of the transparent tray mechanism 6 is slightly larger than the cargo size, and the vertical ascending and descending mechanism 2 is adjusted according to the position of the cargo so that the transparent tray mechanism 6 is parallel to the cargo position;

[0034] Adjust the forklift rotator 8 according to the angle of the cargo to rotate the mechanism 4 rotating around the Y axis, adjust the cylinder 10 to rotate the mechanism 5 rotating around the X axis, and make the transparent pallet mechanism 6 parallel to the cargo;

[0035] Control the automatic walking chassis 1 to move forward and backward, take out the goods from the compartment of the medium and large truck, put the goods in the transparent tray mechanism 6, and transport the goods to the goods scanning, inspection and disinfection station through the fully automatic visual lift 23;

[0036] S5. The goods are always placed in the transparent tray mechanism 6 of the loading and unloading robot 24. The goods scanning, inspection and disinfection station turns on the cameras and flashlights in the six directions of the goods, namely, the upper, lower, left, right, front and rear, to take pictures of the six sides of the goods, namely, the upper, lower, left, right, front and rear; the goods scanning, inspection and disinfection station obtains the barcode position by image recognition, reads the barcode information, and obtains the recipient and address of the goods; and determines whether the package is damaged by image recognition;

[0037] S6. If the recipient and the address of the goods are within the park, and the packaging is not damaged, the goods scanning, inspection, and disinfection station will open the drug nozzles on the six directions of the goods, namely, the upper, lower, left, right, front, and back, and spray the goods with medicine to disinfect them; if it is found that the recipient and the address of the goods are not within the park, the goods will be placed in the goods return area; if the packaging is found to be damaged, it will be transferred to remote manual processing, and the backstage staff will judge the damage of the goods based on the photos of the six sides of the goods, namely, the upper, lower, left, right, front, and back, and then contact the consignee to return the goods or accept them in concession: if they are returned, the goods will be placed in the goods return area; if they are accepted in concession, and the recipient and the address of the goods are within the park, they will be disinfected; if the recipient and the address of the goods are not within the park, the goods will be placed in the goods return area;

[0038] S7. According to the size of the goods and the delivery address in the park, a warehouse of an unmanned delivery vehicle is selected, and the loading and unloading robot 24 transports the goods in the transparent pallet mechanism 6 to the vicinity of the warehouse entrance of the unmanned delivery vehicle; the unmanned delivery vehicle opens the warehouse; the cylinder 10 of the loading and unloading robot 24 pushes the transparent pallet mechanism 6 to rotate and swing around the bearing 11 to adjust the angle of the transparent pallet mechanism 6 around the Y axis, slide the goods into the warehouse of the unmanned delivery vehicle, and the unmanned delivery vehicle closes the warehouse; if the currently parked unmanned delivery vehicle does not have a suitable warehouse, or the unmanned delivery vehicles are all delivering goods in the park, the goods are placed in the temporary storage area for goods, waiting for the unmanned delivery vehicle to be in place; or the goods are placed in the manual pickup area, and the recipient or park staff are notified to pick up the goods manually;

[0039] S8. If the cargo hold of a certain unmanned delivery vehicle is full, the unmanned delivery vehicle will depart to the park to deliver the goods to the building where the recipient is located; when the goods on the unmanned delivery vehicle are all picked up by the recipients, or the recipients who have not picked up the goods confirm that they cannot pick up the goods, the unmanned delivery vehicle returns to the cargo loading and unloading area, and the unpicked goods on the vehicle are taken down by the loading and unloading robot 24 and placed in the manual pickup area; after the goods on the unmanned delivery vehicle are emptied, the loading and unloading robot 24 continues to execute S3 to S6, and the goods on the truck are scanned, inspected, and disinfected before being placed in the unmanned delivery vehicle;

[0040] S9, repeat S3 to S7 until all the goods on the medium and large trucks have been removed;

[0041] S10, the loading and unloading robot 24 loads all the goods in the goods return area back to the medium and large trucks through the fully automatic visual lift 23;

[0042] S11, the fully automatic visual lift 23 retracts the upper connecting plate 19 and the lower connecting plate 20, the upper plate 21 is lowered to the lowest position, and the rear door and the side door of the compartment of the medium and large truck are closed;

[0043] S12, medium and large trucks start, drive out of the truck parking space, and drive to the next destination;

[0044] S13. When the unmanned delivery vehicle at the unmanned delivery vehicle parking space has an empty cargo hold, the loading and unloading robot 24 takes the goods in the cargo temporary storage area to the cargo scanning, inspection, and disinfection station to scan the barcode, sprays the goods with disinfectant, and puts them in the corresponding cargo hold of the unmanned delivery vehicle until all the goods in the cargo temporary storage area are delivered to the unmanned delivery vehicle; if the cargo hold of an unmanned delivery vehicle is full during the journey, the unmanned delivery vehicle will set out to the park to deliver the goods to the building where the recipient is located; when the goods on the unmanned delivery vehicle are all taken away by the recipient, or the recipients who have not taken the goods confirm that they cannot take the goods, the unmanned delivery vehicle returns to the cargo loading and unloading area, and the untaken goods on the vehicle are taken away by the loading and unloading robot 24 and placed in the manual pickup area; after the goods on the unmanned delivery vehicle are emptied, the loading and unloading robot 24 continues to scan, inspect, and disinfect the goods in the cargo temporary storage area and put them into the unmanned delivery vehicle until there is no more goods in the cargo temporary storage area.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] The loading and unloading robot 24 of the present invention is small in size and is convenient for entering and exiting the carriage.

[0047] The horizontal left-right extension and contraction mechanism 3 of the loading and unloading robot 24 of the present invention has a larger extension range and can grab goods with a larger size span.

[0048] Secondly, a transparent tray mechanism 6 is designed, which does not rely on friction to grab goods and can lift heavier goods. The transparent tray mechanism 6 will not block the labels and barcodes on the goods, making it easier for goods to be scanned, inspected, and disinfected at the station.

[0049] In addition, a mechanism 5 rotating about the X-axis and a mechanism 4 rotating about the Y-axis are provided to lift irregularly placed goods in the cargo pile.

[0050] The fully automatic visual lift 23 of the present invention can automatically match the floor height of the truck during the lifting process of the lift, can adapt to different trucks, cargo weights and cargo distributions, and has better adaptability.

[0051] The automatic cargo loading and unloading method of the present invention can automatically identify and grab cargo from the compartment of a medium or large truck by a loading and unloading robot, and take the cargo out of the compartment of a medium or large truck or place the cargo into the compartment of a medium or large truck by a fully automatic visual lift, and distribute or recycle the cargo after scanning and disinfecting the cargo. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A schematic diagram of an automatic cargo loading and unloading space used in the automatic cargo loading and unloading method of the present invention;

[0053] Figure 2 is a first schematic diagram of the loading and unloading robot of the present invention;

[0054] Figure 3 is a second schematic diagram of the loading and unloading robot of the present invention;

[0055] Figure 4 is a third schematic diagram of the loading and unloading robot of the present invention;

[0056] Figure 5 is a fourth schematic diagram of the loading and unloading robot of the present invention;

[0057] Figure 6 It is the first schematic diagram of the fully automatic visual lift;

[0058] Figure 7 is a second schematic diagram of the fully automatic visual lift;

[0059] Figure 8 It is a schematic diagram of the application of the fully automatic visual lift 23 and the loading and unloading robot 24.

[0060] The accompanying drawings are marked as follows:

[0061] 1. Automatic walking chassis 2. Vertical rising and falling mechanism

[0062] 3. Horizontal left and right extension and contraction mechanism 4. Mechanism for rotation around the Y axis

[0063] 5. Mechanism for rotation around the X axis 6. Transparent tray mechanism

[0064] 7. Loading and unloading robot camera 8. Forklift rotator

[0065] 9. T-slot platform 10. Cylinder

[0066] 11. Bearing 12. T-channel steel

[0067] 13. Pressure sensor 14. Robotic arm

[0068] 15. Hydraulic cylinder 16. Lift camera

[0069] 17. Motor 18. Hydraulic rod

[0070] 19. Upper connecting plate 20. Lower connecting plate

[0071] 21. Upper plate 22. Bottom plate

[0072] 23. Fully automatic visual lift 24. Loading and unloading robot DETAILED DESCRIPTION

[0073] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings.

[0074] Figure 1 The figure is a schematic diagram of the automatic cargo loading and unloading space used in the automatic cargo loading and unloading method of the present invention. The automatic cargo loading and unloading space includes:

[0075] Truck parking spaces: the one or more truck parking spaces are used to park medium and large trucks;

[0076] Fully automatic visual lift 23: One or more fully automatic visual lifts 23 are placed on the side and / or behind each truck parking space;

[0077] Unmanned delivery vehicle parking space: used to park one or more unmanned delivery vehicles. The number of unmanned delivery vehicles is determined by the number of goods to be delivered and the delivery speed.

[0078] Cargo scanning, inspection, and disinfection stations: used to scan barcodes of cargo unloaded from medium and large trucks to obtain destination information; check whether the packaging is damaged; and spray the cargo with chemicals for disinfection;

[0079] A passage for the loading and unloading robot 24 to move forward, retreat, turn, and load and unload goods;

[0080] Cargo return area: temporarily storing cargo that needs to be loaded back into medium and large trucks;

[0081] Cargo temporary storage area: used to temporarily store goods that are not put into the unmanned delivery vehicle because the unmanned delivery vehicle's cargo warehouse is full;

[0082] Manual pickup area: This area is used to store goods that require manual pickup, such as oversized goods that cannot be placed in the cargo hold of unmanned delivery vehicles or goods with severely damaged packaging.

[0083] like Figure 2 to Figure 5 As shown, the loading and unloading robot 24 of the present invention includes an automatic walking chassis 1, a vertical ascending and descending mechanism 2, a horizontal left and right stretching and contracting mechanism 3, a mechanism rotating around the Y axis 4, a mechanism rotating around the X axis 5, a transparent pallet mechanism 6, a loading and unloading robot camera 7, a forklift rotator 8, a T-slot platform 9, a cylinder 10, a bearing 11, a pressure sensor 13, a mechanical arm 14 and a hydraulic cylinder 15. Among them, as Figure 2 As shown, the X-axis points to the forward direction of the loading and unloading robot 24 , the Y-axis points to the left side of the loading and unloading robot 24 , and the Z-axis points to directly above the loading and unloading robot 24 .

[0084] The vertical ascending and descending mechanism 2 is arranged on the automatic walking chassis 1 , and the loading and unloading robot camera 7 is arranged on the top of the vertical ascending and descending mechanism 2 .

[0085] The mechanism 5 rotating around the X axis is connected by three parts: the horizontal left and right stretching and contracting mechanism 3, the mechanism 4 rotating around the Y axis, and the transparent tray mechanism 6. Among them, the horizontal left and right stretching and contracting mechanism 3 is connected to the vertical ascending and descending mechanism 2 through the forklift rotator 8, and the two sides of the horizontal left and right stretching and contracting mechanism 3 are connected to the mechanism 4 rotating around the Y axis, and the mechanism 4 rotating around the Y axis is connected to the transparent tray mechanism 6.

[0086] The T-slot platform 9 is fixed to the rear end surface of the horizontal left-right extension and contraction mechanism 3. The T-slot platform 9 is vertical to the ground and extends along the Y-axis direction.

[0087] The stationary end of the hydraulic cylinder 15 is fixed to the T-slot platform 9, and the movable end of the hydraulic cylinder 15 is fixed to the ends of the mechanical arms 14 on both sides of the horizontal left and right extension mechanism 3. The T-slot steel 12 matches the T-slot platform 9 and slides in the T-slot platform 9. The T-slot steel 12 is extended and retracted along the direction of the T-slot platform 9 (i.e., the Y-axis direction) to adjust the horizontal left and right width. Limit bosses are provided at both ends of the T-slot platform 9 to form soft and hard dual limit with the limit sensor.

[0088] The mechanism 4 rotating around the Y axis is provided with a cylinder 10 and a bearing 11. The tail of the cylinder 10 is embedded with a bearing, and the tail of the cylinder 10 is swung in cooperation with a pin. The push rod end of the cylinder 10 is connected to the transparent tray mechanism 6 by a connecting rod, and the push-pull action of the cylinder 10 drives the transparent tray mechanism 6 to rotate and swing around the bearing 11 as the center, so as to adjust the angle of the transparent tray mechanism 6 around the Y axis.

[0089] A pressure sensor 13 is provided on the transparent pallet mechanism 6. The pressure sensor 13 is embedded in the bearing tube 11 and is consistent with the direction of the bearing tube (i.e., the Y-axis direction). The sensor probe of the pressure sensor 13 faces the transparent pallet mechanism 6. The pressure sensitive element in the pressure sensor 13 generates a pressure output by detecting the deformation of the transparent pallet mechanism 6 to measure the pressure between the transparent pallet mechanism 6 and the cargo to ensure that the pallet has been attached to the cargo.

[0090] like Figure 6-7 As shown, the fully automatic visual lift 23 includes a lift camera 16 , a motor 17 , a hydraulic rod 18 , an upper connecting plate 19 , a lower connecting plate 20 , an upper plate 21 and a bottom plate 22 .

[0091] The motor 17 is disposed on the bottom plate 22, and a hydraulic rod 18 is disposed between the bottom plate 22 and the bottom surface of the upper plate 21. The fixed end of the hydraulic rod 18 is disposed at the rear of the bottom plate 22, and the front end of the telescopic end of the hydraulic rod 18 is rotatably disposed at the bottom surface of the front portion of the upper plate 21. The motor 17 drives the telescopic movement of the hydraulic rod 18 to adjust the tilt angle of the upper plate 21.

[0092] The upper top surface of the upper plate 21 is provided with an upper connecting plate 19 that can be automatically or manually folded to connect to the carriage, and the lower top surface of the upper plate 21 is provided with a lower connecting plate 20 that can be automatically or manually folded to connect to the ground. The front bottom edge of the upper plate 21, which can adjust the tilt angle, is provided with a lift camera 16 facing forward.

[0093] like Figure 8 As shown, a method for automatically loading and unloading goods using the fully automatic visual lift 23 and the loading and unloading robot 24 comprises the following steps:

[0094] S1. A medium or large truck drives into a truck parking space, aligns the truck longitudinally with the fully automatic visual lift at the rear of the truck, aligns the truck laterally with the fully automatic visual lift at the side of the truck, stops the truck, and opens the side and / or rear of the truck compartment;

[0095] S2, the fully automatic visual lift 23 gradually increases the inclination angle of the upper plate 21 until the edge of the compartment of the medium-to-large truck enters the field of view of the lift camera 16 installed on the fully automatic visual lift 23. The upper connecting plate 19 and the lower connecting plate 20 are lowered to form a continuous ramp from the ground to the compartment, and the loading and unloading robot 24 enters the compartment of the medium-to-large truck through the continuous ramp to pick up the goods;

[0096] S3. The unmanned delivery vehicle drives into the unmanned delivery vehicle parking space and the cargo hold is unlocked;

[0097] S4, the loading and unloading robot 24 enters the compartment of the medium-to-large truck through the fully automatic visual lift 23, turns on the loading and unloading robot camera 7, and identifies the size, position and angle of a piece of cargo in the compartment of the medium-to-large truck;

[0098] The telescopic length of the hydraulic cylinder 15 is controlled according to the size of the cargo to adjust the horizontal left and right extension and contraction mechanism 3 so that the size of the transparent pallet mechanism 6 is slightly larger than the cargo size, and the vertical rising and falling mechanism 2 is adjusted according to the position of the cargo so that the transparent pallet mechanism 6 is parallel to the cargo position.

[0099] The forklift rotator 8 is adjusted according to the angle of the cargo to rotate the mechanism 4 rotating around the Y axis, and the cylinder 10 is adjusted to rotate the mechanism 5 rotating around the X axis so that the transparent pallet mechanism 6 is parallel to the cargo.

[0100] The automatic traveling chassis 1 is controlled to move forward and backward, and the goods are taken out from the compartment of the medium or large truck. The goods are placed in the transparent tray mechanism 6, and the goods are transported to the goods scanning, inspection, and disinfection station through the fully automatic visual lift 23;

[0101] S5. The goods are always placed in the transparent tray mechanism 6 of the loading and unloading robot 24. The goods scanning, inspection, and disinfection stations turn on the cameras and flashlights in the six directions of the goods, namely, the upper, lower, left, right, front, and rear, and take pictures of the six sides of the goods, namely, the upper, lower, left, right, front, and rear. Because the goods are placed in the transparent tray mechanism 6, the appearance of the goods and the labels and barcodes on the surface of the goods are not blocked, so the loading and unloading robot 24 does not need to put the goods down and pick them up again, which improves work efficiency. The goods scanning, inspection, and disinfection stations obtain the barcode position through image recognition, read the barcode information, and obtain the recipient and address of the goods; determine whether the package is damaged through image recognition.

[0102] S6. If the recipient and the address of the goods are within the park, and the packaging is not damaged, the goods scanning, inspection, and disinfection station will open the drug nozzles on the six directions of the goods, namely, the upper, lower, left, right, front, and back, and spray the goods with medicine to disinfect them; if it is found that the recipient and the address of the goods are not within the park, the goods will be placed in the goods return area; if the packaging is found to be damaged, it will be transferred to remote manual processing, and the backstage staff will judge the damage of the goods based on the photos of the six sides of the goods, namely, the upper, lower, left, right, front, and back, and then contact the consignee to return the goods or accept them in concession: if they are returned, the goods will be placed in the goods return area; if they are accepted in concession, and the recipient and the address of the goods are within the park, they will be disinfected; if the recipient and the address of the goods are not within the park, the goods will be placed in the goods return area;

[0103] S7. According to the size of the goods and the delivery address in the park, a warehouse of an unmanned delivery vehicle is selected, and the loading and unloading robot 24 transports the goods in the transparent pallet mechanism 6 to the vicinity of the warehouse entrance of the unmanned delivery vehicle; the unmanned delivery vehicle opens the warehouse; the cylinder 10 of the loading and unloading robot 24 pushes the transparent pallet mechanism 6 to rotate and swing around the bearing 11 to adjust the angle of the transparent pallet mechanism 6 around the Y axis, slide the goods into the warehouse of the unmanned delivery vehicle, and the unmanned delivery vehicle closes the warehouse; if the currently parked unmanned delivery vehicle does not have a suitable warehouse, or the unmanned delivery vehicles are all delivering goods in the park, the goods are placed in the temporary storage area for goods, waiting for the unmanned delivery vehicle to be in place; or the goods are placed in the manual pickup area, and the recipient or park staff are notified to pick up the goods manually;

[0104] S8. If the cargo hold of a certain unmanned delivery vehicle is full, the unmanned delivery vehicle will depart to the park to deliver the goods to the building where the recipient is located; when the goods on the unmanned delivery vehicle are all picked up by the recipients, or the recipients who have not picked up the goods confirm that they cannot pick up the goods, the unmanned delivery vehicle returns to the cargo loading and unloading area, and the unpicked goods on the vehicle are taken down by the loading and unloading robot 24 and placed in the manual pickup area; after the goods on the unmanned delivery vehicle are emptied, the loading and unloading robot 24 continues to execute S3 to S6, and the goods on the truck are scanned, inspected, and disinfected before being placed in the unmanned delivery vehicle;

[0105] S9, repeat S3 to S7 until all the goods on the medium and large trucks have been removed;

[0106] S10, the loading and unloading robot 24 loads all the goods in the goods return area back to the medium and large trucks through the fully automatic visual lift 23;

[0107] S11, the fully automatic visual lift 23 retracts the upper connecting plate 19 and the lower connecting plate 20, the upper plate 21 is lowered to the lowest position, and the rear door and the side door of the compartment of the medium and large truck are closed;

[0108] S12, medium and large trucks start, drive out of the truck parking space, and drive to the next destination;

[0109] S13. When the unmanned delivery vehicle in the unmanned delivery vehicle parking space has an empty cargo warehouse, the loading and unloading robot 24 takes the goods in the cargo temporary storage area to the cargo scanning, inspection, and disinfection station to scan the barcode, spray the goods with disinfectant, and put them in the corresponding cargo warehouse of the unmanned delivery vehicle until all the goods in the cargo temporary storage area are delivered to the unmanned delivery vehicle. If the cargo warehouse of an unmanned delivery vehicle is full during the journey, the unmanned delivery vehicle will set out to the park to deliver the goods to the building where the recipient is located; when the goods on the unmanned delivery vehicle are all taken away by the recipient, or the recipients who have not picked up the goods confirm that they cannot pick up the goods, the unmanned delivery vehicle returns to the cargo loading and unloading area, and the unreceived goods on the vehicle are removed by the loading and unloading robot 24 and placed in the manual pickup area; after the goods on the unmanned delivery vehicle are emptied, the loading and unloading robot 24 continues to scan the goods in the cargo temporary storage area, inspect the vehicle, and disinfect it before placing it in the unmanned delivery vehicle until there is no goods in the cargo temporary storage area.

Claims

1. A loading and unloading robot, characterized in that: The loading and unloading robot (24) comprises an automatic walking chassis (1), a vertical ascending and descending mechanism (2), a horizontal left and right extending and contracting mechanism (3), a mechanism rotating about a Y axis (4), a mechanism rotating about an X axis (5), a transparent pallet mechanism (6), a loading and unloading robot camera (7), a forklift rotator (8), a T-slot platform (9), a cylinder (10), a bearing (11), a pressure sensor (13), a mechanical arm (14) and a hydraulic cylinder (15); wherein the X axis points to the forward direction of the loading and unloading robot (24), the Y axis points to the left side of the loading and unloading robot (24), and the Z axis points to the top of the loading and unloading robot (24); The vertical ascending and descending mechanism (2) is arranged on the automatic walking chassis (1), and the loading and unloading robot camera (7) is arranged on the top of the vertical ascending and descending mechanism (2); The mechanism (5) rotating about the X-axis is composed of three parts: a horizontal left-right stretching and contracting mechanism (3), a mechanism rotating about the Y-axis (4), and a transparent tray mechanism (6); wherein the horizontal left-right stretching and contracting mechanism (3) is connected to the vertical ascending and descending mechanism (2) through a forklift rotator (8), the two sides of the horizontal left-right stretching and contracting mechanism (3) are connected to the mechanism rotating about the Y-axis (4), and the mechanism rotating about the Y-axis (4) is connected to the transparent tray mechanism (6); The T-slot platform (9) is fixed to the rear end surface of the horizontal left-right extension and contraction mechanism (3); the T-slot platform (9) is vertical to the ground and extends along the Y-axis direction; The stationary end of the hydraulic cylinder (15) is fixed to the T-slot platform (9), and the movable end of the hydraulic cylinder (15) is fixed to the ends of the mechanical arms (14) on both sides of the horizontal left and right extension and contraction mechanism (3). The T-slot steel (12) matches the T-slot platform (9) and slides inside the T-slot platform (9); the T-slot steel (12) is extended and retracted along the direction of the T-slot platform (9) to adjust the horizontal left and right width; A cylinder (10) and a bearing (11) are arranged on the mechanism (4) that rotates around the Y axis; a bearing is embedded in the tail of the cylinder (10), and the tail of the cylinder (10) is swung in cooperation with a pin shaft; a push rod end of the cylinder (10) is connected to the transparent tray mechanism (6) by a connecting rod, and the push-pull action of the cylinder (10) drives the transparent tray mechanism (6) to rotate and swing around the bearing (11) to adjust the angle of the transparent tray mechanism (6) around the Y axis; A pressure sensor (13) is arranged on the transparent tray mechanism (6). The pressure sensor (13) is embedded in the bearing (11) cylinder and is in the same direction as the bearing cylinder. The sensor probe of the pressure sensor (13) faces the transparent tray mechanism (6).

2. The loading and unloading robot according to claim 1, characterized in that: Limit bosses are provided at both ends of the T-slot platform (9), which form a soft and hard dual limit with the limit sensor.

3. A fully automatic visual lift, characterized in that: The fully automatic visual lift comprises a lift camera (16), a motor (17), a hydraulic rod (18), an upper connecting plate (19), a lower connecting plate (20), an upper plate (21) and a bottom plate (22); The motor (17) is arranged on the bottom plate (22); a hydraulic rod (18) is arranged between the bottom plate (22) and the bottom surface of the upper plate (21); the fixed end of the hydraulic rod (18) is arranged at the rear of the bottom plate (22); the front end of the telescopic end of the hydraulic rod (18) is rotatably arranged at the bottom surface of the front part of the upper plate (21); the motor (17) drives the hydraulic rod (18) to telescope, thereby adjusting the tilt angle of the upper plate (21); The upper top surface of the upper plate (21) is provided with an upper connecting plate (19) that can be automatically or manually folded to connect to the carriage, and the lower top surface of the upper plate (21) is provided with a lower connecting plate (20) that can be automatically or manually folded to connect to the ground; and a lift camera (16) facing forward is provided at the front bottom edge of the upper plate (21) whose tilt angle can be adjusted.

4. A method for automatic cargo loading and unloading using a fully automatic visual lifter and a loading and unloading robot, characterized in that: The loading and unloading robot (24) comprises an automatic walking chassis (1), a vertical ascending and descending mechanism (2), a horizontal left and right extending and contracting mechanism (3), a mechanism rotating about a Y axis (4), a mechanism rotating about an X axis (5), a transparent pallet mechanism (6), a loading and unloading robot camera (7), a forklift rotator (8), a T-slot platform (9), a cylinder (10), a bearing (11), a pressure sensor (13), a mechanical arm (14) and a hydraulic cylinder (15); wherein the X axis points to the forward direction of the loading and unloading robot (24), the Y axis points to the left side of the loading and unloading robot (24), and the Z axis points to the top of the loading and unloading robot (24); The vertical ascending and descending mechanism (2) is arranged on the automatic walking chassis (1), and the loading and unloading robot camera (7) is arranged on the top of the vertical ascending and descending mechanism (2); The mechanism (5) rotating about the X-axis is composed of three parts: a horizontal left-right stretching and contracting mechanism (3), a mechanism rotating about the Y-axis (4), and a transparent tray mechanism (6); wherein the horizontal left-right stretching and contracting mechanism (3) is connected to the vertical ascending and descending mechanism (2) through a forklift rotator (8), the two sides of the horizontal left-right stretching and contracting mechanism (3) are connected to the mechanism rotating about the Y-axis (4), and the mechanism rotating about the Y-axis (4) is connected to the transparent tray mechanism (6); The T-slot platform (9) is fixed to the rear end surface of the horizontal left-right extension and contraction mechanism (3); the T-slot platform (9) is vertical to the ground and extends along the Y-axis direction; The stationary end of the hydraulic cylinder (15) is fixed to the T-slot platform (9), and the movable end of the hydraulic cylinder (15) is fixed to the ends of the mechanical arms (14) on both sides of the horizontal left and right extension and contraction mechanism (3). The T-slot steel (12) matches the T-slot platform (9) and slides inside the T-slot platform (9); the T-slot steel (12) is extended and retracted along the direction of the T-slot platform (9) to adjust the horizontal left and right width; A cylinder (10) and a bearing (11) are arranged on the mechanism (4) that rotates around the Y axis; a bearing is embedded in the tail of the cylinder (10), and the tail of the cylinder (10) is swung in cooperation with a pin shaft; a push rod end of the cylinder (10) is connected to the transparent tray mechanism (6) by a connecting rod, and the push-pull action of the cylinder (10) drives the transparent tray mechanism (6) to rotate and swing around the bearing (11) to adjust the angle of the transparent tray mechanism (6) around the Y axis; A pressure sensor (13) is arranged on the transparent tray mechanism (6), the pressure sensor (13) is embedded in the bearing (11) cylinder and is in the same direction as the bearing cylinder, and a sensor probe of the pressure sensor (13) faces the transparent tray mechanism (6); The fully automatic visual lift comprises a lift camera (16), a motor (17), a hydraulic rod (18), an upper connecting plate (19), a lower connecting plate (20), an upper plate (21) and a bottom plate (22); The motor (17) is arranged on the bottom plate (22); a hydraulic rod (18) is arranged between the bottom plate (22) and the bottom surface of the upper plate (21); the fixed end of the hydraulic rod (18) is arranged at the rear of the bottom plate (22); the front end of the telescopic end of the hydraulic rod (18) is rotatably arranged at the bottom surface of the front part of the upper plate (21); the motor (17) drives the hydraulic rod (18) to telescope, thereby adjusting the tilt angle of the upper plate (21); The upper top surface of the upper plate (21) is provided with an upper connecting plate (19) that can be automatically or manually folded to connect to the carriage, and the lower top surface of the upper plate (21) is provided with a lower connecting plate (20) that can be automatically or manually folded to connect to the ground; a lift camera (16) facing forward is provided at the front bottom edge of the upper plate (21) whose tilt angle can be adjusted; The method comprises the following steps: The automatic cargo loading and unloading space includes: Truck parking spaces: the one or more truck parking spaces are used to park medium and large trucks; Fully automatic visual lift (23): one or more fully automatic visual lifts (23) are placed on the side and / or the back of each truck parking space; Unmanned delivery vehicle parking space: used to park one or more unmanned delivery vehicles. The number of unmanned delivery vehicles is determined by the number of goods to be delivered and the delivery speed. Cargo scanning, inspection, and disinfection stations: used to scan barcodes of cargo unloaded from medium and large trucks to obtain destination information; check whether the packaging is damaged; and spray the cargo with chemicals for disinfection; A passage for the loading and unloading robot (24) to move forward, retreat, turn, and load and unload goods; Cargo return area: temporarily storing cargo that needs to be loaded back into medium and large trucks; Cargo temporary storage area: used to temporarily store goods that are not put into the unmanned delivery vehicle because the unmanned delivery vehicle's cargo warehouse is full; Manual pickup area: for goods that need to be picked up manually; S1. A medium or large truck drives into a truck parking space, aligns the truck longitudinally with the fully automatic visual lift at the rear of the truck, aligns the truck laterally with the fully automatic visual lift at the side of the truck, stops the truck, and opens the side and / or rear of the truck compartment; S2, the fully automatic visual lift (23) gradually increases the inclination angle of the upper plate (21) until the edge of the compartment of the medium-to-large truck enters the field of view of the lift camera (16) installed on the fully automatic visual lift (23); the upper connecting plate (19) and the lower connecting plate (20) are lowered to form a continuous ramp from the ground to the compartment, and the loading and unloading robot (24) enters the compartment of the medium-to-large truck through the continuous ramp to pick up the goods; S3. The unmanned delivery vehicle drives into the unmanned delivery vehicle parking space and the cargo hold is unlocked; S4, the loading and unloading robot (24) enters the compartment of the medium-to-large truck through the fully automatic visual lift (23), turns on the loading and unloading robot camera (7), and identifies the size, position, and angle of a piece of cargo in the compartment of the medium-to-large truck; The extension length of the hydraulic cylinder (15) is controlled according to the size of the cargo, so as to adjust the horizontal left-right extension and contraction mechanism (3) so that the size of the transparent tray mechanism (6) is slightly larger than the size of the cargo, and the vertical ascending and descending mechanism (2) is adjusted according to the position of the cargo so that the transparent tray mechanism (6) is parallel to the position of the cargo; The forklift rotator (8) is adjusted according to the angle of the cargo to rotate the mechanism (4) rotating about the Y axis, and the cylinder (10) is adjusted to rotate the mechanism (5) rotating about the X axis so that the transparent pallet mechanism (6) is parallel to the cargo; Control the automatic walking chassis (1) to move forward and backward, take out the goods from the compartment of the medium or large truck, place the goods in a transparent tray mechanism (6), and transport the goods to the goods scanning, inspection, and disinfection station via a fully automatic visual lift (23); S5. The goods are always placed in the transparent tray mechanism (6) of the loading and unloading robot (24). The goods scanning, inspection and disinfection station turns on the cameras and flashlights in the six directions of the goods, namely, the upper, lower, left, right, front and rear, to take pictures of the six sides of the goods, namely, the upper, lower, left, right, front and rear. The goods scanning, inspection and disinfection station obtains the barcode position by image recognition, reads the barcode information, and obtains the recipient and address of the goods. It determines whether the package is damaged by image recognition. S6. If the recipient and the address of the goods are within the park, and the packaging is not damaged, the goods scanning, inspection, and disinfection station will open the drug nozzles on the six directions of the goods, namely, the upper, lower, left, right, front, and back, and spray the goods with medicine to disinfect them; if it is found that the recipient and the address of the goods are not within the park, the goods will be placed in the goods return area; if the packaging is found to be damaged, it will be transferred to remote manual processing, and the backstage staff will judge the damage of the goods based on the photos of the six sides of the goods, namely, the upper, lower, left, right, front, and back, and then contact the consignee to return the goods or accept them in concession: if they are returned, the goods will be placed in the goods return area; if they are accepted in concession, and the recipient and the address of the goods are within the park, they will be disinfected; if the recipient and the address of the goods are not within the park, the goods will be placed in the goods return area; S7. According to the size of the goods and the delivery address in the park, a warehouse of an unmanned delivery vehicle is selected, and the loading and unloading robot (24) transports the goods in the transparent tray mechanism (6) to the vicinity of the warehouse opening of the unmanned delivery vehicle; the unmanned delivery vehicle opens the warehouse; the cylinder (10) of the loading and unloading robot (24) pushes the transparent tray mechanism (6) to rotate and swing around the bearing (11) to adjust the angle of the transparent tray mechanism (6) around the Y axis, slide the goods into the warehouse of the unmanned delivery vehicle, and the unmanned delivery vehicle closes the warehouse; if the currently parked unmanned delivery vehicle does not have a suitable warehouse, or the unmanned delivery vehicles are all delivering goods in the park, the goods are placed in the goods temporary storage area and wait for the unmanned delivery vehicle to arrive; or the goods are placed in the manual pickup area and the recipient or park staff is notified to pick up the goods manually; S8. If the cargo hold of a certain unmanned delivery vehicle is full, the unmanned delivery vehicle will depart to the park to deliver the goods to the building where the recipient is located. After the goods on the unmanned delivery vehicle are all picked up by the recipients, or the recipients who have not picked up the goods confirm that they cannot pick up the goods, the unmanned delivery vehicle returns to the cargo loading and unloading area, and the unpicked goods on the vehicle are removed by the loading and unloading robot (24) and placed in the manual pickup area. After the goods on the unmanned delivery vehicle are emptied, the loading and unloading robot (24) continues to execute S3 to S6, and the goods on the truck are scanned, inspected, and disinfected before being placed in the unmanned delivery vehicle. S9, repeat S3 to S7 until all the goods on the medium and large trucks have been removed; S10, the loading and unloading robot (24) loads all the goods in the goods return area back to the medium or large truck via the fully automatic visual lift 23; S11, the fully automatic visual lift (23) retracts the upper connecting plate (19) and the lower connecting plate (20), the upper plate (21) is lowered to the lowest position, and the rear door and the side door of the compartment of the medium or large truck are closed; S12, medium and large trucks start, drive out of the truck parking space, and drive to the next destination; S13. When the unmanned delivery vehicle at the unmanned delivery vehicle parking space has an empty cargo hold, the loading and unloading robot (24) takes the cargo in the cargo temporary storage area to the cargo scanning, inspection, and disinfection station to scan the barcode, sprays the cargo with disinfectant, and places it in the corresponding cargo hold of the unmanned delivery vehicle until all the cargo in the cargo temporary storage area is delivered to the unmanned delivery vehicle; if the cargo hold of an unmanned delivery vehicle is full during the journey, the unmanned delivery vehicle will set out to the park to deliver the cargo to the recipient's building; when all the cargo on the unmanned delivery vehicle has been picked up by the recipient, or the recipient who has not picked up the cargo has confirmed that they cannot pick up the cargo, the unmanned delivery vehicle returns to the cargo loading and unloading area, and the cargo that has not been picked up on the vehicle is removed by the loading and unloading robot (24) and placed in the manual pickup area; after the cargo on the unmanned delivery vehicle is emptied, the loading and unloading robot (24) continues to scan, inspect, and disinfect the cargo in the cargo temporary storage area and then places it in the unmanned delivery vehicle until there is no cargo in the cargo temporary storage area.

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